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Add M211: Enable/Disable Software Endstops

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This commit is contained in:
Scott Lahteine 2016-08-20 20:07:42 -05:00
parent a1f6cf1e5d
commit 280534c06f
4 changed files with 84 additions and 33 deletions
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17
Marlin/Marlin.h
View File

@ -245,8 +245,6 @@ void enqueue_and_echo_command_now(const char* cmd); // enqueue now, only return
void enqueue_and_echo_commands_P(const char* cmd); //put one or many ASCII commands at the end of the current buffer, read from flash
void clear_command_queue();
void clamp_to_software_endstops(float target[3]);
extern millis_t previous_cmd_ms;
inline void refresh_cmd_timeout() { previous_cmd_ms = millis(); }
@ -275,8 +273,18 @@ extern volatile bool wait_for_heatup;
extern float current_position[NUM_AXIS];
extern float position_shift[3];
extern float home_offset[3];
extern float sw_endstop_min[3];
extern float sw_endstop_max[3];
// Software Endstops
void update_software_endstops(AxisEnum axis);
#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
extern bool soft_endstops_enabled;
void clamp_to_software_endstops(float target[XYZ]);
#else
#define soft_endstops_enabled false
#define clamp_to_software_endstops(x) NOOP
#endif
extern float soft_endstop_min[XYZ];
extern float soft_endstop_max[XYZ];
#define LOGICAL_POSITION(POS, AXIS) (POS + home_offset[AXIS] + position_shift[AXIS])
#define RAW_POSITION(POS, AXIS) (POS - home_offset[AXIS] - position_shift[AXIS])
@ -379,7 +387,6 @@ extern uint8_t active_extruder;
extern float mixing_factor[MIXING_STEPPERS];
#endif
void update_software_endstops(AxisEnum axis);
void calculate_volumetric_multipliers();
// Buzzer

94
Marlin/Marlin_main.cpp
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@ -205,6 +205,7 @@
* M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>
* M209 - Turn Automatic Retract Detection on/off: S<bool> (For slicers that don't support G10/11).
Every normal extrude-only move will be classified as retract depending on the direction.
* M211 - Enable, Disable, and/or Report software endstops: [S<bool>]
* M218 - Set a tool offset: T<index> X<offset> Y<offset>
* M220 - Set Feedrate Percentage: S<percent> ("FR" on your LCD)
* M221 - Set Flow Percentage: S<percent>
@ -332,9 +333,12 @@ float position_shift[3] = { 0 };
// Set by M206, M428, or menu item. Saved to EEPROM.
float home_offset[3] = { 0 };
// Software Endstops. Default to configured limits.
float sw_endstop_min[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
float sw_endstop_max[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
// Software Endstops are based on the configured limits.
#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
bool soft_endstops_enabled = true;
#endif
float soft_endstop_min[XYZ] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS },
soft_endstop_max[XYZ] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
#if FAN_COUNT > 0
int fanSpeeds[FAN_COUNT] = { 0 };
@ -1477,21 +1481,21 @@ void update_software_endstops(AxisEnum axis) {
if (axis == X_AXIS) {
float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
if (active_extruder != 0) {
sw_endstop_min[X_AXIS] = X2_MIN_POS + offs;
sw_endstop_max[X_AXIS] = dual_max_x + offs;
soft_endstop_min[X_AXIS] = X2_MIN_POS + offs;
soft_endstop_max[X_AXIS] = dual_max_x + offs;
return;
}
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
sw_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
sw_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
return;
}
}
else
#endif
{
sw_endstop_min[axis] = base_min_pos(axis) + offs;
sw_endstop_max[axis] = base_max_pos(axis) + offs;
soft_endstop_min[axis] = base_min_pos(axis) + offs;
soft_endstop_max[axis] = base_max_pos(axis) + offs;
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
@ -1499,16 +1503,15 @@ void update_software_endstops(AxisEnum axis) {
SERIAL_ECHOPAIR("For ", axis_codes[axis]);
SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
SERIAL_ECHOPAIR("\n sw_endstop_min = ", sw_endstop_min[axis]);
SERIAL_ECHOPAIR("\n sw_endstop_max = ", sw_endstop_max[axis]);
SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
SERIAL_ECHOPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
SERIAL_EOL;
}
#endif
#if ENABLED(DELTA)
if (axis == Z_AXIS) {
delta_clip_start_height = sw_endstop_max[axis] - delta_safe_distance_from_top();
}
if (axis == Z_AXIS)
delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
#endif
}
@ -1574,8 +1577,8 @@ static void set_axis_is_at_home(AxisEnum axis) {
* SCARA home positions are based on configuration since the actual
* limits are determined by the inverse kinematic transform.
*/
sw_endstop_min[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
sw_endstop_max[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
soft_endstop_min[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
soft_endstop_max[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
}
else
#endif
@ -5572,6 +5575,33 @@ inline void gcode_M206() {
#endif // FWRETRACT
/**
* M211: Enable, Disable, and/or Report software endstops
*
* Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report
*/
inline void gcode_M211() {
SERIAL_ECHO_START;
#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
if (code_seen('S')) soft_endstops_enabled = code_value_bool();
#endif
#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS ": ");
serialprintPGM(soft_endstops_enabled ? PSTR(MSG_ON) : PSTR(MSG_OFF));
#else
SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS ": " MSG_OFF);
#endif
SERIAL_ECHOPGM(" " MSG_SOFT_MIN ": ");
SERIAL_ECHOPAIR( MSG_X, soft_endstop_min[X_AXIS]);
SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_min[Y_AXIS]);
SERIAL_ECHOPAIR(" " MSG_Z, soft_endstop_min[Z_AXIS]);
SERIAL_ECHOPGM(" " MSG_SOFT_MAX ": ");
SERIAL_ECHOPAIR( MSG_X, soft_endstop_max[X_AXIS]);
SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_max[Y_AXIS]);
SERIAL_ECHOPAIR(" " MSG_Z, soft_endstop_max[Z_AXIS]);
SERIAL_EOL;
}
#if HOTENDS > 1
/**
@ -6175,7 +6205,7 @@ inline void gcode_M428() {
bool err = false;
LOOP_XYZ(i) {
if (axis_homed[i]) {
float base = (current_position[i] > (sw_endstop_min[i] + sw_endstop_max[i]) * 0.5) ? base_home_pos(i) : 0,
float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos(i) : 0,
diff = current_position[i] - LOGICAL_POSITION(base, i);
if (diff > -20 && diff < 20) {
set_home_offset((AxisEnum)i, home_offset[i] - diff);
@ -7495,6 +7525,10 @@ void process_next_command() {
break;
#endif // FWRETRACT
case 211: // M211 - Enable, Disable, and/or Report software endstops
gcode_M211();
break;
#if HOTENDS > 1
case 218: // M218 - Set a tool offset: T<index> X<offset> Y<offset>
gcode_M218();
@ -7749,18 +7783,22 @@ void ok_to_send() {
SERIAL_EOL;
}
void clamp_to_software_endstops(float target[3]) {
if (min_software_endstops) {
NOLESS(target[X_AXIS], sw_endstop_min[X_AXIS]);
NOLESS(target[Y_AXIS], sw_endstop_min[Y_AXIS]);
NOLESS(target[Z_AXIS], sw_endstop_min[Z_AXIS]);
#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
void clamp_to_software_endstops(float target[XYZ]) {
#if ENABLED(min_software_endstops)
NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
#endif
#if ENABLED(max_software_endstops)
NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
#endif
}
if (max_software_endstops) {
NOMORE(target[X_AXIS], sw_endstop_max[X_AXIS]);
NOMORE(target[Y_AXIS], sw_endstop_max[Y_AXIS]);
NOMORE(target[Z_AXIS], sw_endstop_max[Z_AXIS]);
}
}
#endif
#if ENABLED(DELTA)

3
Marlin/language.h
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@ -157,6 +157,9 @@
#define MSG_ENDSTOP_OPEN "open"
#define MSG_HOTEND_OFFSET "Hotend offsets:"
#define MSG_DUPLICATION_MODE "Duplication mode: "
#define MSG_SOFT_ENDSTOPS "Soft endstops"
#define MSG_SOFT_MIN "Min"
#define MSG_SOFT_MAX "Max"
#define MSG_SD_CANT_OPEN_SUBDIR "Cannot open subdir "
#define MSG_SD_INIT_FAIL "SD init fail"

3
Marlin/macros.h
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@ -24,6 +24,9 @@
#define MACROS_H
#define NUM_AXIS 4
#define XYZE 4
#define ABC 3
#define XYZ 3
#define FORCE_INLINE __attribute__((always_inline)) inline